#ifndef __NEWIMU_H
#define __NEWIMU_H

#include "axis.h"
#include "maths.h"
#include "sysconfig.h"
#include "system.h"
#include "sensors_types.h"

extern float imuAttitudeYaw;

void imuInit(void);
void imuTransformVectorBodyToEarth(Axis3f * v);
void imuTransformVectorEarthToBody(Axis3f * v);
void imuUpdateAttitude(const sensorData_t *sensorData, state_t *state, float dt);

#endif


